/**
 * 2024/06/02
 * 用于将避障规划器输出转换为无人机期望速度信息
 */

#ifndef NAVIGATION_TRANSFORMER
#define NAVIGATION_TRANSFORMER

using namespace std;
using namespace Eigen;

class NavigationTransformer
{
public:
	NavigationTransformer();
	~NavigationTransformer(){};

	void PublishVelControl();
	void Initialize();

private:
	void CmdLoopCallback(const ros::TimerEvent &event);

	ros::NodeHandle nh;
	ros::Subscriber inputCmdSub;
	ros::Subscriber flightTaskStateSub;
	ros::Publisher parsedCmdPub;
};

#endif